Thispaperpresentsthedevelopmentofa semi-autonomous exploration perspective (approach) for Urban search and rescue environments (USAR). The developed rescue robot consists of a 2- wheel drive with a traction system capableof traversing in various terrain within a 47-degree inclination. A 2-DOF articulated end-effector is attached to robot, which can reach to a height of 45 cm from the ground, hold and lift the object up to 20 Kg. The robot movement is controlled by RFID and Wi-Fi for low latency audio and video feed by a mobile unit. The rover has a night mode with less noise capabilities to aid rescue in dark among various sensors for topography mapping. Theobjectiveoftherobotistomaneuverwithinthenarrowspaces where there is zero-visibility and create space by removing the possible obstacles in the path using the arm. The rover was tested in places with strong EM interference and was found to be viable.